HUD.cc

/*=====================================================================

PIXHAWK Micro Air Vehicle Flying Robotics Toolkit

(c) 2009, 2010 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>

This file is part of the PIXHAWK project

    PIXHAWK is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

    PIXHAWK is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.

======================================================================*/

/**
 * @file
 *   @brief Head Up Display (HUD)
 *
 *   @author Lorenz Meier <mavteam@student.ethz.ch>
 *
 */

#include <QDebug>
#include <cmath>
#include <limits>

#include "UASManager.h"
#include "HUD.h"
#include "MG.h"

// Fix for some platforms, e.g. windows
#ifndef GL_MULTISAMPLE
#define GL_MULTISAMPLE  0x809D
#endif

template<typename T>
inline bool isnan(T value)
{
    return value != value;

}

// requires #include <limits>
template<typename T>
inline bool isinf(T value)
{
    return std::numeric_limits<T>::has_infinity && (value == std::numeric_limits<T>::infinity() || (-1*value) == std::numeric_limits<T>::infinity());
}

/**
 * @warning The HUD widget will not start painting its content automatically
 *          to update the view, start the auto-update by calling HUD::start().
 *
 * @param width
 * @param height
 * @param parent
 */
HUD::HUD(int width, int height, QWidget* parent)
    : QGLWidget(QGLFormat(QGL::SampleBuffers), parent),
    uas(NULL),
    values(QMap<QString, float>()),
    valuesDot(QMap<QString, float>()),
    valuesMean(QMap<QString, float>()),
    valuesCount(QMap<QString, int>()),
    lastUpdate(QMap<QString, quint64>()),
    yawInt(0.0f),
    mode(tr("UNKNOWN MODE")),
    state(tr("UNKNOWN STATE")),
    fuelStatus(tr("00.0V (00m:00s)")),
    xCenterOffset(0.0f),
    yCenterOffset(0.0f),
    vwidth(200.0f),
    vheight(150.0f),
    vGaugeSpacing(50.0f),
    vPitchPerDeg(6.0f), ///< 4 mm y translation per degree)
    rawBuffer1(NULL),
    rawBuffer2(NULL),
    rawImage(NULL),
    rawLastIndex(0),
    rawExpectedBytes(0),
    bytesPerLine(1),
    imageStarted(false),
    receivedDepth(8),
    receivedChannels(1),
    receivedWidth(640),
    receivedHeight(480),
    defaultColor(QColor(70, 200, 70)),
    setPointColor(QColor(200, 20, 200)),
    warningColor(Qt::yellow),
    criticalColor(Qt::red),
    infoColor(QColor(20, 200, 20)),
    fuelColor(criticalColor),
    warningBlinkRate(5),
    refreshTimer(new QTimer(this)),
    noCamera(true),
    hardwareAcceleration(true),
    strongStrokeWidth(1.5f),
    normalStrokeWidth(1.0f),
    fineStrokeWidth(0.5f),
    waypointName("")
{
    // Set auto fill to false
    setAutoFillBackground(false);

    // Fill with black background
    QImage fill = QImage(width, height, QImage::Format_Indexed8);
    fill.setNumColors(3);
    fill.setColor(0, qRgb(0, 0, 0));
    fill.setColor(1, qRgb(0, 0, 0));
    fill.setColor(2, qRgb(0, 0, 0));
    fill.fill(0);

    //QString imagePath = MG::DIR::getIconDirectory() + "hud-template.png";
    //qDebug() << __FILE__ << __LINE__ << "template image:" << imagePath;
    //fill = QImage(imagePath);

    glImage = QGLWidget::convertToGLFormat(fill);

    // Refresh timer
    refreshTimer->setInterval(40); // 25 Hz
    connect(refreshTimer, SIGNAL(timeout()), this, SLOT(update()));

    // Resize to correct size and fill with image
    resize(fill.size());
    glDrawPixels(glImage.width(), glImage.height(), GL_RGBA, GL_UNSIGNED_BYTE, glImage.bits());

    // Set size once
    //setFixedSize(fill.size());
    //setMinimumSize(fill.size());
    //setMaximumSize(fill.size());
    // Lock down the size
    //setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed));

    fontDatabase = QFontDatabase();
    const QString fontFileName = ":/general/vera.ttf"; ///< Font file is part of the QRC file and compiled into the app
    const QString fontFamilyName = "Bitstream Vera Sans";
    if(!QFile::exists(fontFileName)) qDebug() << "ERROR! font file: " << fontFileName << " DOES NOT EXIST!";

    fontDatabase.addApplicationFont(fontFileName);
    font = fontDatabase.font(fontFamilyName, "Roman", (int)(10*scalingFactor*1.2f+0.5f));
    if (font.family() != fontFamilyName) qDebug() << "ERROR! Font not loaded: " << fontFamilyName;

    // Connect with UAS
    UASManager* manager = UASManager::instance();
    connect(manager, SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
}

HUD::~HUD()
{

}

void HUD::start()
{
    refreshTimer->start();
}

void HUD::stop()
{
    refreshTimer->stop();
}

void HUD::updateValue(UASInterface* uas, QString name, double value, quint64 msec)
{
    // UAS is not needed
    Q_UNUSED(uas);

    if (!isnan(value) && !isinf(value))
    {
        // Update mean
        const float oldMean = valuesMean.value(name, 0.0f);
        const int meanCount = valuesCount.value(name, 0);
        double mean = (oldMean * meanCount +  value) / (meanCount + 1);
        if (isnan(mean) || isinf(mean)) mean = 0.0;
        valuesMean.insert(name, mean);
        valuesCount.insert(name, meanCount + 1);
        // Two-value sliding average
        double dot = (valuesDot.value(name) + (value - values.value(name, 0.0f)) / ((msec - lastUpdate.value(name, 0))/1000.0f))/2.0f;
        if (isnan(dot) || isinf(dot))
        {
            dot = 0.0;
        }
        valuesDot.insert(name, dot);
        values.insert(name, value);
        lastUpdate.insert(name, msec);
        //}

        //qDebug() << __FILE__ << __LINE__ << "VALUE:" << value << "MEAN:" << mean << "DOT:" << dot << "COUNT:" << meanCount;
    }
}

/**
 *
 * @param uas the UAS/MAV to monitor/display with the HUD
 */
void HUD::setActiveUAS(UASInterface* uas)
{
    qDebug() << "ATTEMPTING TO SET UAS";
    if (this->uas != NULL && this->uas != uas)
    {
        // Disconnect any previously connected active MAV
        disconnect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*, double, double, double, quint64)));
        disconnect(uas, SIGNAL(batteryChanged(UASInterface*, double, double, int)), this, SLOT(updateBattery(UASInterface*, double, double, int)));
        disconnect(uas, SIGNAL(heartbeat(UASInterface*)), this, SLOT(receiveHeartbeat(UASInterface*)));
        disconnect(uas, SIGNAL(thrustChanged(UASInterface*, double)), this, SLOT(updateThrust(UASInterface*, double)));
        disconnect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
        disconnect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
        disconnect(uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
        disconnect(uas, SIGNAL(statusChanged(UASInterface*,QString,QString)), this, SLOT(updateState(UASInterface*,QString)));
        disconnect(uas, SIGNAL(modeChanged(UASInterface*,QString,QString)), this, SLOT(updateMode(UASInterface*,QString)));
        disconnect(uas, SIGNAL(loadChanged(UASInterface*, double)), this, SLOT(updateLoad(UASInterface*, double)));
        disconnect(uas, SIGNAL(attitudeThrustSetPointChanged(UASInterface*,double,double,double,double,quint64)), this, SLOT(updateAttitudeThrustSetPoint(UASInterface*,double,double,double,double,quint64)));
        disconnect(uas, SIGNAL(valueChanged(UASInterface*,QString,double,quint64)), this, SLOT(updateValue(UASInterface*,QString,double,quint64)));
    }

    // Now connect the new UAS

    //if (this->uas != uas)
    // {
    qDebug() << "UAS SET!" << "ID:" << uas->getUASID();
    // Setup communication
    connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*, double, double, double, quint64)));
    //connect(uas, SIGNAL(batteryChanged(UASInterface*, double, double, int)), this, SLOT(updateBattery(UASInterface*, double, double, int)));
    //connect(uas, SIGNAL(heartbeat(UASInterface*)), this, SLOT(receiveHeartbeat(UASInterface*)));
    //connect(uas, SIGNAL(thrustChanged(UASInterface*, double)), this, SLOT(updateThrust(UASInterface*, double)));
    //connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
    //connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
    //connect(uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
    //connect(uas, SIGNAL(statusChanged(UASInterface*,QString,QString)), this, SLOT(updateState(UASInterface*,QString,QString)));
    //connect(uas, SIGNAL(loadChanged(UASInterface*, double)), this, SLOT(updateLoad(UASInterface*, double)));
    //connect(uas, SIGNAL(attitudeThrustSetPointChanged(UASInterface*,double,double,double,double,quint64)), this, SLOT(updateAttitudeThrustSetPoint(UASInterface*,double,double,double,double,quint64)));
    //connect(uas, SIGNAL(valueChanged(UASInterface*,QString,double,quint64)), this, SLOT(updateValue(UASInterface*,QString,double,quint64)));
    //}
}

void HUD::updateAttitudeThrustSetPoint(UASInterface*, double rollDesired, double pitchDesired, double yawDesired, double thrustDesired, quint64 msec)
{
    updateValue(uas, "roll desired", rollDesired, msec);
    updateValue(uas, "pitch desired", pitchDesired, msec);
    updateValue(uas, "yaw desired", yawDesired, msec);
    updateValue(uas, "thrust desired", thrustDesired, msec);
}

void HUD::updateAttitude(UASInterface* uas, double roll, double pitch, double yaw, quint64 timestamp)
{
    //qDebug() << __FILE__ << __LINE__ << "ROLL" << roll;
    updateValue(uas, "roll", roll, timestamp);
    updateValue(uas, "pitch", pitch, timestamp);
    updateValue(uas, "yaw", yaw, timestamp);
}

void HUD::updateBattery(UASInterface* uas, double voltage, double percent, int seconds)
{
    updateValue(uas, "voltage", voltage, MG::TIME::getGroundTimeNow());
    updateValue(uas, "time remaining", seconds, MG::TIME::getGroundTimeNow());
    updateValue(uas, "charge level", percent, MG::TIME::getGroundTimeNow());

    if (percent < 20.0f)
    {
        fuelColor = warningColor;
    }
    else if (percent < 10.0f)
    {
        fuelColor = criticalColor;
    }
    else
    {
        fuelColor = infoColor;
    }
}

void HUD::receiveHeartbeat(UASInterface*)
{
}

void HUD::updateThrust(UASInterface*, double thrust)
{
    updateValue(uas, "thrust", thrust, MG::TIME::getGroundTimeNow());
}

void HUD::updateLocalPosition(UASInterface* uas,double x,double y,double z,quint64 timestamp)
{
    updateValue(uas, "x", x, timestamp);
    updateValue(uas, "y", y, timestamp);
    updateValue(uas, "z", z, timestamp);
}

void HUD::updateGlobalPosition(UASInterface*,double lat, double lon, double altitude, quint64 timestamp)
{
    updateValue(uas, "lat", lat, timestamp);
    updateValue(uas, "lon", lon, timestamp);
    updateValue(uas, "altitude", altitude, timestamp);
}

void HUD::updateSpeed(UASInterface* uas,double x,double y,double z,quint64 timestamp)
{
    updateValue(uas, "xSpeed", x, timestamp);
    updateValue(uas, "ySpeed", y, timestamp);
    updateValue(uas, "zSpeed", z, timestamp);
}

/**
 * Updates the current system state, but only if the uas matches the currently monitored uas.
 *
 * @param uas the system the state message originates from
 * @param state short state text, displayed in HUD
 */
void HUD::updateState(UASInterface* uas,QString state)
{
    // Only one UAS is connected at a time
    Q_UNUSED(uas);
    this->state = state;
}

/**
 * Updates the current system mode, but only if the uas matches the currently monitored uas.
 *
 * @param uas the system the state message originates from
 * @param mode short mode text, displayed in HUD
 */
void HUD::updateMode(UASInterface* uas,QString mode)
{
    // Only one UAS is connected at a time
    Q_UNUSED(uas);
    this->mode = mode;
}

void HUD::updateLoad(UASInterface* uas, double load)
{
    updateValue(uas, "load", load, MG::TIME::getGroundTimeNow());
}

/**
 * @param y coordinate in pixels to be converted to reference mm units
 * @return the screen coordinate relative to the QGLWindow origin
 */
float HUD::refToScreenX(float x)
{
    //qDebug() << "sX: " << (scalingFactor * x);
    return (scalingFactor * x);
}
/**
 * @param x coordinate in pixels to be converted to reference mm units
 * @return the screen coordinate relative to the QGLWindow origin
 */
float HUD::refToScreenY(float y)
{
    //qDebug() << "sY: " << (scalingFactor * y);
    return (scalingFactor * y);
}

/**
 * This functions works in the OpenGL view, which is already translated by
 * the x and y center offsets.
 *
 */
void HUD::paintCenterBackground(float roll, float pitch, float yaw)
{

    // Center indicator is 100 mm wide
    float referenceWidth = 70.0;
    float referenceHeight = 70.0;

    // HUD is assumed to be 200 x 150 mm
    // so that positions can be hardcoded
    // but can of course be scaled.

    double referencePositionX = vwidth / 2.0 - referenceWidth/2.0;
    double referencePositionY = vheight / 2.0 - referenceHeight/2.0;

    //this->width()/2.0+(xCenterOffset*scalingFactor), this->height()/2.0+(yCenterOffset*scalingFactor);

    setupGLView(referencePositionX, referencePositionY, referenceWidth, referenceHeight);

    // Store current position in the model view
    // the position will be restored after drawing
    glMatrixMode(GL_MODELVIEW);
    glPushMatrix();

    // Move to the center of the window
    glTranslatef(referenceWidth/2.0f,referenceHeight/2.0f,0);
    // Rotate based on the bank
    glRotatef((roll/M_PI)*180.0f, 0, 0, 1);

    // Translate in the direction of the rotation based
    // on the pitch. On the 777, a pitch of 1 degree = 2 mm
    glTranslatef(0, ((-pitch/M_PI)*180.0f * vPitchPerDeg), 0);

    // Ground
    glColor3ub(179,102,0);

    glBegin(GL_POLYGON);
    glVertex2f(-300,-300);
    glVertex2f(-300,0);
    glVertex2f(300,0);
    glVertex2f(300,-300);
    glVertex2f(-300,-300);
    glEnd();

    // Sky
    glColor3ub(0,153,204);

    glBegin(GL_POLYGON);
    glVertex2f(-300,0);
    glVertex2f(-300,300);
    glVertex2f(300,300);
    glVertex2f(300,0);
    glVertex2f(-300,0);

    glEnd();

}

/**
 * Paint text on top of the image and OpenGL drawings
 *
 * @param text chars to write
 * @param color text color
 * @param fontSize text size in mm
 * @param refX position in reference units (mm of the real instrument). This is relative to the measurement unit position, NOT in pixels.
 * @param refY position in reference units (mm of the real instrument). This is relative to the measurement unit position, NOT in pixels.
 */
void HUD::paintText(QString text, QColor color, float fontSize, float refX, float refY, QPainter* painter)
{
    QPen prevPen = painter->pen();
    float pPositionX = refToScreenX(refX) - (fontSize*scalingFactor*0.072f);
    float pPositionY = refToScreenY(refY) - (fontSize*scalingFactor*0.212f);

    //QFont font("Bitstream Vera Sans");
    font.setPixelSize((int)(fontSize*scalingFactor*1.26f));

    QFontMetrics metrics = QFontMetrics(font);
    int border = qMax(4, metrics.leading());
    QRect rect = metrics.boundingRect(0, 0, width() - 2*border, int(height()*0.125),
                                      Qt::AlignLeft | Qt::TextWordWrap, text);
    painter->setPen(color);
    painter->setFont(font);
    painter->setRenderHint(QPainter::TextAntialiasing);
    painter->drawText(pPositionX, pPositionY,
                      rect.width(), rect.height(),
                      Qt::AlignCenter | Qt::TextWordWrap, text);
    painter->setPen(prevPen);
}

void HUD::initializeGL()
{
    bool antialiasing = true;

    // Antialiasing setup
    if(antialiasing)
    {
        glEnable(GL_MULTISAMPLE);
        glEnable(GL_BLEND);

        glBlendFunc(GL_SRC_ALPHA,GL_ONE_MINUS_SRC_ALPHA);

        glEnable(GL_POINT_SMOOTH);
        glEnable(GL_LINE_SMOOTH);

        glHint(GL_POINT_SMOOTH_HINT, GL_NICEST);
        glHint(GL_LINE_SMOOTH_HINT, GL_NICEST);
    }
    else
    {
        glDisable(GL_BLEND);
        glDisable(GL_POINT_SMOOTH);
        glDisable(GL_LINE_SMOOTH);
    }
}

/**
 * @param referencePositionX horizontal position in the reference mm-unit space
 * @param referencePositionY horizontal position in the reference mm-unit space
 * @param referenceWidth width in the reference mm-unit space
 * @param referenceHeight width in the reference mm-unit space
 */
void HUD::setupGLView(float referencePositionX, float referencePositionY, float referenceWidth, float referenceHeight)
{
    int pixelWidth  = (int)(referenceWidth * scalingFactor);
    int pixelHeight = (int)(referenceHeight * scalingFactor);
    // Translate and scale the GL view in the virtual reference coordinate units on the screen
    int pixelPositionX = (int)((referencePositionX * scalingFactor) + xCenterOffset);
    int pixelPositionY = this->height() - (referencePositionY * scalingFactor) + yCenterOffset - pixelHeight;

    //qDebug() << "Pixel x" << pixelPositionX << "pixelY" << pixelPositionY;
    //qDebug() << "xCenterOffset:" << xCenterOffset << "yCenterOffest" << yCenterOffset


    //The viewport is established at the correct pixel position and clips everything
    // out of the desired instrument location
    glViewport(pixelPositionX, pixelPositionY, pixelWidth, pixelHeight);
    glMatrixMode(GL_PROJECTION);
    glLoadIdentity();

    // The ortho projection is setup in a way that so that the drawing is done in the
    // reference coordinate space
    glOrtho(0, referenceWidth, 0, referenceHeight, -1, 1);
    glMatrixMode(GL_MODELVIEW);
    glLoadIdentity();
    //glScalef(scaleX, scaleY, 1.0f);
}

void HUD::paintRollPitchStrips()
{
}


void HUD::paintEvent(QPaintEvent *event)
{
    // Event is not needed
    Q_UNUSED(event);

    // Read out most important values to limit hash table lookups
    static float roll = 0.0;
    static float pitch = 0.0;
    static float yaw = 0.0;

    roll = roll * 0.5 + 0.5 * values.value("roll", 0.0f);
    pitch = pitch * 0.5 + 0.5 * values.value("pitch", 0.0f);
    yaw = yaw * 0.5 + 0.5 * values.value("yaw", 0.0f);


    // Update scaling factor
    // adjust scaling to fit both horizontally and vertically
    scalingFactor = this->width()/vwidth;
    double scalingFactorH = this->height()/vheight;
    if (scalingFactorH < scalingFactor) scalingFactor = scalingFactorH;



    // OPEN GL PAINTING
    // Store model view matrix to be able to reset it to the previous state
    makeCurrent();
    glMatrixMode(GL_MODELVIEW);
    glPushMatrix();
    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);

    // Blue / Brown background
    if (noCamera) paintCenterBackground(roll, pitch, yaw);
    glMatrixMode(GL_MODELVIEW);
    glPopMatrix();

    // END OF OPENGL PAINTING



    //glEnable(GL_MULTISAMPLE);

    // QT PAINTING
    makeCurrent();
    QPainter painter;
    painter.begin(this);
    painter.setRenderHint(QPainter::Antialiasing, true);
    //painter.setRenderHint(QPainter::HighQualityAntialiasing, true);
    painter.translate((this->vwidth/2.0+xCenterOffset)*scalingFactor, (this->vheight/2.0+yCenterOffset)*scalingFactor);



    // COORDINATE FRAME IS NOW (0,0) at CENTER OF WIDGET


    // Draw all fixed indicators
    // MODE
    paintText(mode, infoColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 10, &painter);
    // STATE
    paintText(state, infoColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 15, &painter);
    // BATTERY
    paintText(fuelStatus, fuelColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 20, &painter);
    // Waypoint
    paintText(waypointName, defaultColor, 2.0f, (-vwidth/3.0) + 10, +vheight/3.0 + 15, &painter);

    // YAW INDICATOR
    //
    //      .
    //    .   .
    //   .......
    //
    const float yawIndicatorWidth = 4.0f;
    const float yawIndicatorY = vheight/2.0f - 10.0f;
    QPolygon yawIndicator(4);
    yawIndicator.setPoint(0, QPoint(refToScreenX(0.0f), refToScreenY(yawIndicatorY)));
    yawIndicator.setPoint(1, QPoint(refToScreenX(yawIndicatorWidth/2.0f), refToScreenY(yawIndicatorY+yawIndicatorWidth)));
    yawIndicator.setPoint(2, QPoint(refToScreenX(-yawIndicatorWidth/2.0f), refToScreenY(yawIndicatorY+yawIndicatorWidth)));
    yawIndicator.setPoint(3, QPoint(refToScreenX(0.0f), refToScreenY(yawIndicatorY)));
    painter.setPen(defaultColor);
    painter.drawPolyline(yawIndicator);

    // CENTER

    // HEADING INDICATOR
    //
    //    __      __
    //       \/\/
    //
    const float hIndicatorWidth = 7.0f;
    const float hIndicatorY = -25.0f;
    const float hIndicatorYLow = hIndicatorY + hIndicatorWidth / 6.0f;
    const float hIndicatorSegmentWidth = hIndicatorWidth / 7.0f;
    QPolygon hIndicator(7);
    hIndicator.setPoint(0, QPoint(refToScreenX(0.0f-hIndicatorWidth/2.0f), refToScreenY(hIndicatorY)));
    hIndicator.setPoint(1, QPoint(refToScreenX(0.0f-hIndicatorWidth/2.0f+hIndicatorSegmentWidth*1.75f), refToScreenY(hIndicatorY)));
    hIndicator.setPoint(2, QPoint(refToScreenX(0.0f-hIndicatorSegmentWidth*1.0f), refToScreenY(hIndicatorYLow)));
    hIndicator.setPoint(3, QPoint(refToScreenX(0.0f), refToScreenY(hIndicatorY)));
    hIndicator.setPoint(4, QPoint(refToScreenX(0.0f+hIndicatorSegmentWidth*1.0f), refToScreenY(hIndicatorYLow)));
    hIndicator.setPoint(5, QPoint(refToScreenX(0.0f+hIndicatorWidth/2.0f-hIndicatorSegmentWidth*1.75f), refToScreenY(hIndicatorY)));
    hIndicator.setPoint(6, QPoint(refToScreenX(0.0f+hIndicatorWidth/2.0f), refToScreenY(hIndicatorY)));
    painter.setPen(defaultColor);
    painter.drawPolyline(hIndicator);


    // SETPOINT
    const float centerWidth = 4.0f;
    painter.setPen(defaultColor);
    painter.setBrush(Qt::NoBrush);
    // TODO
    //painter.drawEllipse(QPointF(refToScreenX(qMin(10.0f, values.value("roll desired", 0.0f) * 10.0f)), refToScreenY(qMin(10.0f, values.value("pitch desired", 0.0f) * 10.0f))), refToScreenX(centerWidth/2.0f), refToScreenX(centerWidth/2.0f));

    const float centerCrossWidth = 10.0f;
    // left
    painter.drawLine(QPointF(refToScreenX(-centerWidth / 2.0f), refToScreenY(0.0f)), QPointF(refToScreenX(-centerCrossWidth / 2.0f), refToScreenY(0.0f)));
    // right
    painter.drawLine(QPointF(refToScreenX(centerWidth / 2.0f), refToScreenY(0.0f)), QPointF(refToScreenX(centerCrossWidth / 2.0f), refToScreenY(0.0f)));
    // top
    painter.drawLine(QPointF(refToScreenX(0.0f), refToScreenY(-centerWidth / 2.0f)), QPointF(refToScreenX(0.0f), refToScreenY(-centerCrossWidth / 2.0f)));



    // COMPASS
    const float compassY = -vheight/2.0f + 10.0f;
    QRectF compassRect(QPointF(refToScreenX(-5.0f), refToScreenY(compassY)), QSizeF(refToScreenX(10.0f), refToScreenY(5.0f)));
    painter.setBrush(Qt::NoBrush);
    painter.setPen(Qt::SolidLine);
    painter.setPen(defaultColor);
    painter.drawRoundedRect(compassRect, 2, 2);
    QString yawAngle;

    const float yawDeg = ((values.value("yaw", 0.0f)/M_PI)*180.0f)+180.f;
    //qDebug() << "YAW: " << yawDeg;
    yawAngle.sprintf("%03d", (int)yawDeg);
    paintText(yawAngle, defaultColor, 3.5f, -3.7f, compassY+ 0.9f, &painter);

    // CHANGE RATE STRIPS
    drawChangeRateStrip(-51.0f, -50.0f, 15.0f, -1.0f, 1.0f, valuesDot.value("z", 0.0f), &painter);

    // CHANGE RATE STRIPS
    drawChangeRateStrip(49.0f, -50.0f, 15.0f, -1.0f, 1.0f, valuesDot.value("x", 0.0f), &painter);

    // GAUGES

    // Left altitude gauge
    drawChangeIndicatorGauge(-vGaugeSpacing, -15.0f, 10.0f, 2.0f, -values.value("z", 0.0f), defaultColor, &painter, false);

    // Right speed gauge
    drawChangeIndicatorGauge(vGaugeSpacing, -15.0f, 10.0f, 5.0f, values.value("xSpeed", 0.0f), defaultColor, &painter, false);


    // MOVING PARTS

    // Translate for yaw
    const float maxYawTrans = 60.0f;
    float yawDiff = valuesDot.value("yaw", 0.0f);
    if (isinf(yawDiff)) yawDiff = 0.0f;
    if (yawDiff > M_PI) yawDiff = yawDiff - M_PI;

    if (yawDiff < -M_PI) yawDiff = yawDiff + M_PI;

    yawInt += yawDiff;

    if (yawInt > M_PI) yawInt = M_PI;
    if (yawInt < -M_PI) yawInt = -M_PI;

    float yawTrans = yawInt * (double)maxYawTrans;
    yawInt *= 0.6f;
    //qDebug() << "yaw translation" << yawTrans << "integral" << yawInt << "difference" << yawDiff << "yaw" << yaw << "asin(yawInt)" << asinYaw;

    painter.translate(0, (pitch/M_PI)* -180.0f * refToScreenY(1.8));

    painter.translate(refToScreenX(yawTrans), 0);



    // Rotate view and draw all roll-dependent indicators
    painter.rotate((roll/M_PI)* -180.0f);

    //qDebug() << "ROLL" << roll << "PITCH" << pitch << "YAW DIFF" << valuesDot.value("roll", 0.0f);

    // PITCH

    paintPitchLines((pitch/M_PI)*180.0f, &painter);
    painter.end();
    //glDisable(GL_MULTISAMPLE);

    //glFlush();
}

/*
void HUD::paintGL()
{
    static float roll = 0.0;
    static float pitch = 0.0;
    static float yaw = 0.0;

    // Read out most important values to limit hash table lookups
    roll = roll * 0.5 + 0.5 * values.value("roll", 0.0f);
    pitch = pitch * 0.5 + 0.5 * values.value("pitch", 0.0f);
    yaw = yaw * 0.5 + 0.5 * values.value("yaw", 0.0f);

    //qDebug() << __FILE__ << __LINE__ << "ROLL:" << roll << "PITCH:" << pitch << "YAW:" << yaw;


    // Update scaling factor
    // adjust scaling to fit both horizontally and vertically
    scalingFactor = this->width()/vwidth;
    double scalingFactorH = this->height()/vheight;
    if (scalingFactorH < scalingFactor) scalingFactor = scalingFactorH;

    makeCurrent();
    glClear(GL_COLOR_BUFFER_BIT);
    //if(!noCamera) glDrawPixels(glImage.width(), glImage.height(), GL_RGBA, GL_UNSIGNED_BYTE, glImage.bits());
    //glDrawPixels(glImage.width(), glImage.height(), GL_RGBA, GL_UNSIGNED_BYTE, glImage.bits()); // FIXME Remove after testing


    // Blue / Brown background
    if (noCamera) paintCenterBackground(roll, pitch, yaw);

    glFlush();

    //    // Store current GL model view
    //    glMatrixMode(GL_MODELVIEW);
    //    glPushMatrix();
    //
    //    // Setup GL view
    //    setupGLView(0.0f, 0.0f, vwidth, vheight);
    //
    //    // Restore previous view
    //    glPopMatrix();

    // Now draw QPainter overlay

    //painter.setRenderHint(QPainter::Antialiasing);

    // Position the coordinate frame according to the setup

    makeOverlayCurrent();
    QPainter painter(this);
    //painter.setRenderHint(QPainter::Antialiasing, true);
    //painter.setRenderHint(QPainter::HighQualityAntialiasing, true);
    painter.translate((this->vwidth/2.0+xCenterOffset)*scalingFactor, (this->vheight/2.0+yCenterOffset)*scalingFactor);

    // COORDINATE FRAME IS NOW (0,0) at CENTER OF WIDGET


    // Draw all fixed indicators
    // MODE
    paintText(mode, infoColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 10, &painter);
    // STATE
    paintText(state, infoColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 15, &painter);
    // BATTERY
    paintText(fuelStatus, fuelColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 20, &painter);
    // Waypoint
    paintText(waypointName, defaultColor, 2.0f, (-vwidth/3.0) + 10, +vheight/3.0 + 15, &painter);

    // YAW INDICATOR
    //
    //      .
    //    .   .
    //   .......
    //
    const float yawIndicatorWidth = 4.0f;
    const float yawIndicatorY = vheight/2.0f - 10.0f;
    QPolygon yawIndicator(4);
    yawIndicator.setPoint(0, QPoint(refToScreenX(0.0f), refToScreenY(yawIndicatorY)));
    yawIndicator.setPoint(1, QPoint(refToScreenX(yawIndicatorWidth/2.0f), refToScreenY(yawIndicatorY+yawIndicatorWidth)));
    yawIndicator.setPoint(2, QPoint(refToScreenX(-yawIndicatorWidth/2.0f), refToScreenY(yawIndicatorY+yawIndicatorWidth)));
    yawIndicator.setPoint(3, QPoint(refToScreenX(0.0f), refToScreenY(yawIndicatorY)));
    painter.setPen(defaultColor);
    painter.drawPolyline(yawIndicator);

    // CENTER

    // HEADING INDICATOR
    //
    //    __      __
    //       \/\/
    //
    const float hIndicatorWidth = 7.0f;
    const float hIndicatorY = -25.0f;
    const float hIndicatorYLow = hIndicatorY + hIndicatorWidth / 6.0f;
    const float hIndicatorSegmentWidth = hIndicatorWidth / 7.0f;
    QPolygon hIndicator(7);
    hIndicator.setPoint(0, QPoint(refToScreenX(0.0f-hIndicatorWidth/2.0f), refToScreenY(hIndicatorY)));
    hIndicator.setPoint(1, QPoint(refToScreenX(0.0f-hIndicatorWidth/2.0f+hIndicatorSegmentWidth*1.75f), refToScreenY(hIndicatorY)));
    hIndicator.setPoint(2, QPoint(refToScreenX(0.0f-hIndicatorSegmentWidth*1.0f), refToScreenY(hIndicatorYLow)));
    hIndicator.setPoint(3, QPoint(refToScreenX(0.0f), refToScreenY(hIndicatorY)));
    hIndicator.setPoint(4, QPoint(refToScreenX(0.0f+hIndicatorSegmentWidth*1.0f), refToScreenY(hIndicatorYLow)));
    hIndicator.setPoint(5, QPoint(refToScreenX(0.0f+hIndicatorWidth/2.0f-hIndicatorSegmentWidth*1.75f), refToScreenY(hIndicatorY)));
    hIndicator.setPoint(6, QPoint(refToScreenX(0.0f+hIndicatorWidth/2.0f), refToScreenY(hIndicatorY)));
    painter.setPen(defaultColor);
    painter.drawPolyline(hIndicator);


    // SETPOINT
    const float centerWidth = 4.0f;
    painter.setPen(defaultColor);
    painter.setBrush(Qt::NoBrush);
    // TODO
    //painter.drawEllipse(QPointF(refToScreenX(qMin(10.0f, values.value("roll desired", 0.0f) * 10.0f)), refToScreenY(qMin(10.0f, values.value("pitch desired", 0.0f) * 10.0f))), refToScreenX(centerWidth/2.0f), refToScreenX(centerWidth/2.0f));

    const float centerCrossWidth = 10.0f;
    // left
    painter.drawLine(QPointF(refToScreenX(-centerWidth / 2.0f), refToScreenY(0.0f)), QPointF(refToScreenX(-centerCrossWidth / 2.0f), refToScreenY(0.0f)));
    // right
    painter.drawLine(QPointF(refToScreenX(centerWidth / 2.0f), refToScreenY(0.0f)), QPointF(refToScreenX(centerCrossWidth / 2.0f), refToScreenY(0.0f)));
    // top
    painter.drawLine(QPointF(refToScreenX(0.0f), refToScreenY(-centerWidth / 2.0f)), QPointF(refToScreenX(0.0f), refToScreenY(-centerCrossWidth / 2.0f)));



    // COMPASS
    const float compassY = -vheight/2.0f + 10.0f;
    QRectF compassRect(QPointF(refToScreenX(-5.0f), refToScreenY(compassY)), QSizeF(refToScreenX(10.0f), refToScreenY(5.0f)));
    painter.setBrush(Qt::NoBrush);
    painter.setPen(Qt::SolidLine);
    painter.setPen(defaultColor);
    painter.drawRoundedRect(compassRect, 2, 2);
    QString yawAngle;

    const float yawDeg = ((values.value("yaw", 0.0f)/M_PI)*180.0f)+180.f;
    //qDebug() << "YAW: " << yawDeg;
    yawAngle.sprintf("%03d", (int)yawDeg);
    paintText(yawAngle, defaultColor, 3.5f, -3.7f, compassY+ 0.9f, &painter);

    // CHANGE RATE STRIPS
    drawChangeRateStrip(-51.0f, -50.0f, 15.0f, -1.0f, 1.0f, valuesDot.value("z", 0.0f), &painter);

    // CHANGE RATE STRIPS
    drawChangeRateStrip(49.0f, -50.0f, 15.0f, -1.0f, 1.0f, valuesDot.value("x", 0.0f), &painter);

    // GAUGES

    // Left altitude gauge
    drawChangeIndicatorGauge(-vGaugeSpacing, -15.0f, 10.0f, 2.0f, -values.value("z", 0.0f), defaultColor, &painter, false);

    // Right speed gauge
    drawChangeIndicatorGauge(vGaugeSpacing, -15.0f, 10.0f, 5.0f, values.value("xSpeed", 0.0f), defaultColor, &painter, false);

    glFlush();


    // MOVING PARTS

    // Translate for yaw
    const float maxYawTrans = 60.0f;
    float yawDiff = valuesDot.value("yaw", 0.0f);
    if (isinf(yawDiff)) yawDiff = 0.0f;
    if (yawDiff > M_PI) yawDiff = yawDiff - M_PI;

    if (yawDiff < -M_PI) yawDiff = yawDiff + M_PI;

    yawInt += yawDiff;

    if (yawInt > M_PI) yawInt = M_PI;
    if (yawInt < -M_PI) yawInt = -M_PI;

    float yawTrans = yawInt * (double)maxYawTrans;
    yawInt *= 0.6f;
    //qDebug() << "yaw translation" << yawTrans << "integral" << yawInt << "difference" << yawDiff << "yaw" << yaw << "asin(yawInt)" << asinYaw;

    painter.translate(0, (pitch/M_PI)* -180.0f * refToScreenY(1.8));

    painter.translate(refToScreenX(yawTrans), 0);



    // Rotate view and draw all roll-dependent indicators
    painter.rotate((roll/M_PI)* -180.0f);

    //qDebug() << "ROLL" << roll << "PITCH" << pitch << "YAW DIFF" << valuesDot.value("roll", 0.0f);

    // PITCH

    paintPitchLines((pitch/M_PI)*180.0f, &painter);

    painter.end();

    glFlush();


}*/


/**
 * @param pitch pitch angle in degrees (-180 to 180)
 */
void HUD::paintPitchLines(float pitch, QPainter* painter)
{
    QString label;

    const float yDeg = vPitchPerDeg;
    const float lineDistance = 5.0f; ///< One pitch line every 10 degrees
    const float posIncrement = yDeg * lineDistance;
    float posY = posIncrement;
    const float posLimit = sqrt(pow(vwidth, 2.0f) + pow(vheight, 2.0f));

    const float offsetAbs = pitch * yDeg;

    float offset = pitch;
    if (offset < 0) offset = -offset;
    int offsetCount = 0;
    while (offset > lineDistance)
    {
        offset -= lineDistance;
        offsetCount++;
    }

    int iPos = (int)(0.5f + lineDistance); ///< The first line
    int iNeg = (int)(-0.5f - lineDistance); ///< The first line

    offset *= yDeg;


    painter->setPen(defaultColor);

    posY = -offsetAbs + posIncrement; //+ 100;// + lineDistance;

    while (posY < posLimit)
    {
        paintPitchLinePos(label.sprintf("%3d", iPos), 0.0f, -posY, painter);
        posY += posIncrement;
        iPos += (int)lineDistance;
    }



    // HORIZON
    //
    //    ------------    ------------
    //
    const float pitchWidth = 30.0f;
    const float pitchGap = pitchWidth / 2.5f;
    const QColor horizonColor = defaultColor;
    const float diagonal = sqrt(pow(vwidth, 2.0f) + pow(vheight, 2.0f));
    const float lineWidth = refLineWidthToPen(0.5f);

    // Left horizon
    drawLine(0.0f-diagonal, offsetAbs, 0.0f-pitchGap/2.0f, offsetAbs, lineWidth, horizonColor, painter);
    // Right horizon
    drawLine(0.0f+pitchGap/2.0f, offsetAbs, 0.0f+diagonal, offsetAbs, lineWidth, horizonColor, painter);



    label.clear();

    posY = offsetAbs  + posIncrement;


    while (posY < posLimit)
    {
        paintPitchLineNeg(label.sprintf("%3d", iNeg), 0.0f, posY, painter);
        posY += posIncrement;
        iNeg -= (int)lineDistance;
    }
}

void HUD::paintPitchLinePos(QString text, float refPosX, float refPosY, QPainter* painter)
{
    //painter->setPen(QPen(QBrush, normalStrokeWidth));

    const float pitchWidth = 30.0f;
    const float pitchGap = pitchWidth / 2.5f;
    const float pitchHeight = pitchWidth / 12.0f;
    const float textSize = pitchHeight * 1.1f;
    const float lineWidth = 0.5f;

    // Positive pitch indicator:
    //
    //      _______      _______
    //     |10                  |
    //

    // Left vertical line
    drawLine(refPosX-pitchWidth/2.0f, refPosY, refPosX-pitchWidth/2.0f, refPosY+pitchHeight, lineWidth, defaultColor, painter);
    // Left horizontal line
    drawLine(refPosX-pitchWidth/2.0f, refPosY, refPosX-pitchGap/2.0f, refPosY, lineWidth, defaultColor, painter);
    // Text left
    paintText(text, defaultColor, textSize, refPosX-pitchWidth/2.0 + 0.75f, refPosY + pitchHeight - 1.75f, painter);

    // Right vertical line
    drawLine(refPosX+pitchWidth/2.0f, refPosY, refPosX+pitchWidth/2.0f, refPosY+pitchHeight, lineWidth, defaultColor, painter);
    // Right horizontal line
    drawLine(refPosX+pitchWidth/2.0f, refPosY, refPosX+pitchGap/2.0f, refPosY, lineWidth, defaultColor, painter);